From 3dfe2108cfab31ba3ee5527e217d0d8e99a51162 Mon Sep 17 00:00:00 2001 From: git perforce import user Date: Tue, 25 Oct 2016 12:29:14 -0600 Subject: Initial commit: PhysX 3.4.0 Update @ 21294896 APEX 1.4.0 Update @ 21275617 [CL 21300167] --- .../PhysXAPI/files/structPx1DConstraint.html | 423 +++++++++++++++++++++ 1 file changed, 423 insertions(+) create mode 100644 PhysX_3.4/Documentation/PhysXAPI/files/structPx1DConstraint.html (limited to 'PhysX_3.4/Documentation/PhysXAPI/files/structPx1DConstraint.html') diff --git a/PhysX_3.4/Documentation/PhysXAPI/files/structPx1DConstraint.html b/PhysX_3.4/Documentation/PhysXAPI/files/structPx1DConstraint.html new file mode 100644 index 00000000..5e801146 --- /dev/null +++ b/PhysX_3.4/Documentation/PhysXAPI/files/structPx1DConstraint.html @@ -0,0 +1,423 @@ + + + NVIDIA(R) PhysX(R) SDK 3.4 API Reference: Px1DConstraint Struct Reference + + + + + + + +
+

Px1DConstraint Struct Reference
+ +[Physics] +

A constraint. +More... +

+#include <PxConstraintDesc.h> +

+

+Collaboration diagram for Px1DConstraint:
+
+

Collaboration graph
+ +PxVec3 +
[legend]
+ +

+List of all members. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Public Attributes

PxVec3 linear0
 linear component of velocity jacobian in world space
PxReal geometricError
 geometric error of the constraint along this axis
PxVec3 angular0
 angular component of velocity jacobian in world space
PxReal velocityTarget
 velocity target for the constraint along this axis
PxVec3 linear1
 linear component of velocity jacobian in world space
PxReal minImpulse
 minimum impulse the solver may apply to enforce this constraint
PxVec3 angular1
 angular component of velocity jacobian in world space
PxReal maxImpulse
 maximum impulse the solver may apply to enforce this constraint
union {
   struct SpringModifiers {
      PxReal   stiffness
 spring parameter, for spring constraints
      PxReal   damping
 damping parameter, for spring constraints
   }   spring
   struct RestitutionModifiers {
      PxReal   restitution
 restitution parameter for determining additional "bounce"
      PxReal   velocityThreshold
 minimum impact velocity for bounce
   }   bounce
} mods
PxReal forInternalUse
 for internal use only
PxU16 flags
 a set of Px1DConstraintFlags
PxU16 solveHint
 constraint optimization hint, should be an element of PxConstraintSolveHint
+

Detailed Description

+A constraint. +

+A constraint is expressed as a set of 1-dimensional constraint rows which define the required constraint on the objects' velocities.

+Each constraint is either a hard constraint or a spring. We define the velocity at the constraint to be the quantity

+v = body0vel.dot(lin0,ang0) - body1vel.dot(lin1, ang1)

+For a hard constraint, the solver attempts to generate

+1. a set of velocities for the objects which, when integrated, respect the constraint errors:

+v + (geometricError / timestep) = velocityTarget

+2. a set of velocities for the objects which respect the constraints:

+v = velocityTarget

+Hard constraints support restitution: if the impact velocity exceeds the bounce threshold, then the target velocity of the constraint will be set to restitution * -v

+Alternatively, the solver can attempt to resolve the velocity constraint as an implicit spring:

+F = stiffness * -geometricError + damping * (velocityTarget - v)

+where F is the constraint force or acceleration. Springs are fully implicit: that is, the force or acceleration is a function of the position and velocity after the solve.

+All constraints support limits on the minimum or maximum impulse applied.

Member Data Documentation

+ +
+
+ + + + +
PxVec3 Px1DConstraint::angular0
+
+
+ +

+angular component of velocity jacobian in world space +

+ +

+

+ +

+
+ + + + +
PxVec3 Px1DConstraint::angular1
+
+
+ +

+angular component of velocity jacobian in world space +

+ +

+

+ +

+
+ + + + +
struct { ... } ::RestitutionModifiers Px1DConstraint::bounce
+
+
+ +

+ +

+

+ +

+
+ + + + +
PxReal Px1DConstraint::damping
+
+
+ +

+damping parameter, for spring constraints +

+ +

+

+ +

+
+ + + + +
PxU16 Px1DConstraint::flags
+
+
+ +

+a set of Px1DConstraintFlags +

+ +

+

+ +

+
+ + + + +
PxReal Px1DConstraint::forInternalUse
+
+
+ +

+for internal use only +

+ +

+

+ +

+
+ + + + +
PxReal Px1DConstraint::geometricError
+
+
+ +

+geometric error of the constraint along this axis +

+ +

+

+ +

+
+ + + + +
PxVec3 Px1DConstraint::linear0
+
+
+ +

+linear component of velocity jacobian in world space +

+ +

+

+ +

+
+ + + + +
PxVec3 Px1DConstraint::linear1
+
+
+ +

+linear component of velocity jacobian in world space +

+ +

+

+ +

+
+ + + + +
PxReal Px1DConstraint::maxImpulse
+
+
+ +

+maximum impulse the solver may apply to enforce this constraint +

+ +

+

+ +

+
+ + + + +
PxReal Px1DConstraint::minImpulse
+
+
+ +

+minimum impulse the solver may apply to enforce this constraint +

+ +

+

+ +

+
+ + + + +
union { ... } Px1DConstraint::mods
+
+
+ +

+ +

+

+ +

+
+ + + + +
PxReal Px1DConstraint::restitution
+
+
+ +

+restitution parameter for determining additional "bounce" +

+ +

+

+ +

+
+ + + + +
PxU16 Px1DConstraint::solveHint
+
+
+ +

+constraint optimization hint, should be an element of PxConstraintSolveHint +

+ +

+

+ +

+
+ + + + +
struct { ... } ::SpringModifiers Px1DConstraint::spring
+
+
+ +

+ +

+

+ +

+
+ + + + +
PxReal Px1DConstraint::stiffness
+
+
+ +

+spring parameter, for spring constraints +

+ +

+

+ +

+
+ + + + +
PxReal Px1DConstraint::velocityTarget
+
+
+ +

+velocity target for the constraint along this axis +

+ +

+

+ +

+
+ + + + +
PxReal Px1DConstraint::velocityThreshold
+
+
+ +

+minimum impact velocity for bounce +

+ +

+

+

The documentation for this struct was generated from the following file: +
+ +

+Copyright © 2008-2016 NVIDIA Corporation, 2701 San Tomas Expressway, Santa Clara, CA 95050 U.S.A. All rights reserved. www.nvidia.com + + -- cgit v1.2.3